Work on minimal dockers.

README.md

@@ -19,7 +19,14 @@ export WORLD_ORIGIN_LON=16.6827607783
 export WORLD_ORIGIN_ELEVATION=29.8
 ```
 
-The scren file are in: /home/tompe/docker/waraps/screen
+The screen file are in: /home/tompe/docker/waraps/screen
+
+NOTICE: C-o \ do not kill the docker containers.
+
+To stop the running containers do:
+```bash
+docker stop $(docker container ls -q)
+```
 
 ## Start System Using Only Dockers but use a local ROS Core
 
@@ -44,15 +51,47 @@ gazebo roslaunch lrs_wara_gazebo dji_to_gazebo.launch name:=dji0 with_laser:=tru
 ```
 
 ### Start /op0 using a screen:
+
 ```bash
 env NS=/op0 screen -c waraps/screen/screen_op
 ```
 
+This will start the following scripts which starts docker containers:
+```bash
+wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=${NS}
+tst roslaunch lrs_launch tst_part.launch ns:=${NS}
+exec_system roslaunch lrs_launch exec_part.launch ns:=${NS}
+```
+
 ### Start /dji0 simulation using a screen:
+
 ```bash
-env NS=/op0 screen -c waraps/screen/screen_djisim
+env NS=/dji0 screen -c waraps/screen/screen_djisim
 ```
 
+This will start the following scripts which starts docker containers:
+```bash
+base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 basic:=false gazebo:=true
+dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=true ns:=${NS}
+wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=${NS}
+tst roslaunch lrs_launch tst_part.launch ns:=${NS}
+exec_system roslaunch lrs_launch exec_part.launch ns:=${NS}
+exec_dji roslaunch lrs_launch exec_vehicle.launch vehicle:=dji ns:=${NS}
+```
+
+### Test the tqo running screens
+
+Takeoff
+```bash
+tst rosrun lrs_tst tstcommand.py --takeoff -x 100 -y 100 -z 12 --speed 7 --exec __ns:=/dji0
+```
+
+Flyto
+```bash
+tst rosrun lrs_tst tstcommand.py --fly -x 100 -y 100 -z 12 --speed 3 --exec __ns:=/dji0
+```
+
+
 
 ### Basic Simulator
 ```bash

script/exec_system

 #!/bin/bash
 
-tag=gitlab.liu.se:5000/lrs/waraps_docker_images/exec-minimal:v01
+tag=gitlab.liu.se:5000/lrs/waraps_docker_images/exec-exec-minimal:v01
 
 if [ $1 = "pull" ]; then
     docker pull $tag
     exit 0
 fi
 
-docker run \
+exec docker run \
   --network host \
   --security-opt apparmor:unconfined \
   --ulimit nofile=1024 \

script/gazebo

+#!/bin/bash
+
+tag=gitlab.liu.se:5000/lrs/waraps_docker_images/gazebo-minimal:v01
+
+if [ $1 = "pull" ]; then
+    docker pull $tag
+    exit 0
+fi
+
+docker run --gpus all \
+  --network host \
+  --security-opt apparmor:unconfined \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -e DISPLAY=unix${DISPLAY} \
+  --ulimit nofile=1024 \
+  -e ROS_HOSTNAME=localhost \
+  --rm -it ${tag} "$@"
+

script/tst

@@ -7,7 +7,7 @@ if [ $1 = "pull" ]; then
     exit 0
 fi
 
-docker run \
+exec docker run \
   --network host \
   --security-opt apparmor:unconfined \
   --ulimit nofile=1024 \

script/wdb

@@ -7,7 +7,7 @@ if [ $1 = "pull" ]; then
     exit 0
 fi
 
-docker run \
+exec docker run \
   --network host \
   --security-opt apparmor:unconfined \
   --ulimit nofile=1024 \